How to add UIImagePickerController as a sub view instead of Modal View

I have a segment controller on one of my views and now on the 0th index of segment controller I want to add UIImagePickerController (for showing camera view to user) by adding as sub view and not by ModalViewController. Right now the view gets loaded but It does not show any camera view. I am able to show the camera view by presentModalViewController and passing its object.